CN109230578A - A kind of goods stacking machine device people - Google Patents
A kind of goods stacking machine device people Download PDFInfo
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- CN109230578A CN109230578A CN201810837145.5A CN201810837145A CN109230578A CN 109230578 A CN109230578 A CN 109230578A CN 201810837145 A CN201810837145 A CN 201810837145A CN 109230578 A CN109230578 A CN 109230578A
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- arm
- translation
- telescopic
- support
- basic arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The present invention relates to cargo stacking technical fields, more particularly to a kind of goods stacking machine device people, including pedestal, robot arm device and support device, pedestal includes the first platform and the second platform, first stage+module has the first translation rotating device, and the second stage+module has the second translation rotating device, and robot arm device one end is rotatably connected with the first translation rotating device, support device one end is rotatably connected with the second translation rotating device, and robot arm device is connect with support device；Robot arm device includes basic arm and telescopic arm, basic arm is equipped with telescopic cavity, telescopic arm, which is sheathed in the telescopic cavity of basic arm, to be stretched, and the first end of basic arm is rotatably connected with the first translation rotating device, and basic arm is rotatably connected close to the position of second end with support device.The present invention effectively increases the stability of cargo stacking, reduces the cost of cargo stacking, and robot using more flexible, it is convenient to carry out stacking cargo from different height and direction.
Description
Technical field
The present invention relates to cargo stacking technical field more particularly to a kind of goods stacking machine device people.
Background technique
With the development of the society, the development of enterprise, proposes new want to high efficiency, the stability of existing logistic storage
It asks.Logistics goods rely on forklift transport from warehouse to compartment at present, and manually carry out loading/unloading vehicles, and worker is in compartment by cargo
Neatly packed, porter's physical work intensity is big, is inconvenient to walk about in compartment, and environment temperature is higher, and working environment is severe.?
During current loading-unloading vehicle, worker be engaged in carry large labor intensity, be engaged in carry industry personnel it is fewer and fewer, logistic efficiency
It is unable to get further promotion.With the reinforcement of national labor laws and regulations, the requirement to labor safety and occupational protection is increasingly
Height causes logistics cost higher and higher.Therefore, how products storage circulation system is efficiently managed, becomes asking for urgent need to resolve in the industry
Topic.
In current goods stacking machine device people, Stacking Robots are by single rotation when adjusting delivery direction
The integrally rotated mode of device is adjusted, and in the heavier situation of cargo, the stress variation of rotating device is more violent, is caused
The process stability of Stacking Robots delivery is poor, and delivery accuracy is lower, and since Stacking Robots are rotated around a bit
Change delivery direction, causes the delivery direction before and after direction transformation cannot be parallel with initial delivery direction, to make stacking
Cargo is not that translation carries out stacking, needs artificial or tail end that multiple freedom degrees are arranged and is adjusted, complicates Stacking Robots
Structure, increase cost.
Summary of the invention
The object of the present invention is to provide a kind of stability for effectively improving cargo stacking, reduce the cost of cargo stacking, and
It is convenient to carry out stacking cargo, while the goods stacking machine for keeping cargo stacking neat from different height and direction using more flexible
Device people.
To achieve the goals above, the present invention provides a kind of goods stacking machine device people, including pedestal, robot arm device and branch
Support arrangement, the pedestal include the first platform and the second platform, and first stage+module has the first translation rotating device, described
Second stage+module has the second translation rotating device, and described robot arm device one end rotatably connects with the first translation rotating device
It connects, described support device one end is rotatably connected with the second translation rotating device, and the robot arm device is connect with support device；
The robot arm device includes basic arm and telescopic arm, and the basic arm is equipped with telescopic cavity, and the telescopic arm is arranged
It stretches in the telescopic cavity of basic arm, the first end of the basic arm is rotatably connected with the first translation rotating device, institute
It states basic arm to be rotatably connected close to the position of second end with support device, the support device is used to make the second end of basic arm
Rotary motion is done around first end.
Optionally, the first translation rotating device and the second translation rotating device include translation mechanism and rotation base
Seat, the translation mechanism includes driven in translation unit and translating rails, and the rotating basis is slidably mounted on the translating rails,
For the driven in translation unit for driving rotating basis to move along translating rails, it is flat that the first end of the basic arm is articulated with first
The rotating basis of rotating device is moved, the support device and the rotating basis of the second translation rotating device are hinged, and described first is flat
The translating rails of the translating rails and the second translation rotating device that move rotating device are arranged in parallel.
Optionally, the support device includes support portal frame, elevating screw and elevation driving unit, described support gantry
Frame is installed on the second translation rotating device, and the basic arm has been rotatably connected connecting shaft, the company close to the position of second end
The both ends of spindle are threaded with the elevating screw respectively, and the elevating screw is rotatably connected in the support portal frame
Two sides, the elevation driving unit are installed on support portal frame and drive the elevating screw rotation.
Optionally, the telescopic arm lower surface is equipped with first movement rack gear and the second mobile rack, the first movement tooth
Item and the second mobile rack parallel arrangement, the basic arm are equipped with telescopic drive motor, and the power of the telescopic drive motor is defeated
Outlet is connected with drive shaft, and the drive shaft is equipped with first movement gear and the second carrier wheel, the first movement gear with
The engagement of first movement rack gear, second carrier wheel are engaged with the second mobile rack.
Optionally, the tooth form of the first movement rack gear is left-hand teeth, and the tooth form of second mobile rack is right-hand teeth,
The tooth form of the first movement rack gear and the tooth form of the second mobile rack are arranged symmetrically.
Optionally, upper support guide wheel, the upper support are equipped with close to the position of second end in the telescopic cavity of the basic arm
Guide wheel is abutted with telescopic arm bottom surface, and the telescopic arm is equipped with the lower branch abutted with basic arm telescopic cavity bottom surface close to the position of head end
Support deflector roll and the upper support guide wheel abutted with basic arm telescopic cavity top surface.
Optionally, the upper support at least two groups of quantity of guide wheel, the upper support guide wheel of at least two groups be respectively arranged in
Drive shaft two sides.
It optionally, further include belt dressing, the belt dressing includes belt driving unit, reversing roller, belt and tensioning
The both ends of mechanism, the basic arm and telescopic arm are equipped with reversing roller, and the belt is set around the reversing roller, the basic arm
The one end connecting with the first translation rotating device is equipped with idler roller, and the strainer is set to reversing roller and the tensioning of basic arm
Tightening belt is used between roller.
Optionally, the strainer includes that pressure roll, tensioning cylinder and tensioning bracket, the tensioning cylinder pass through tensioning
Bracket is installed on basic arm, and the pressure roll is connected to the power output end of tensioning cylinder by mounting bracket, the reversing roller,
Idler roller and pressure roll parallel arrangement, the tensioning bracket are slidably equipped with guide rod, and described guide rod one end is connect with mounting bracket.
It optionally, further include the automatic contraction cable turntable for the cable that control device connects control device with for folding and unfolding,
The pedestal, robot arm device and support device are electrically connected with control device, and the automatic contraction cable turntable is installed on machine
Tool arm assembly side.
Implement the embodiment of the present invention, has following technical effect that
On the one hand, the present invention realizes robot arm device by the first translation rotating device and the second translation rotating device
Delivery position freely adjusts, and makes the both ends synchronizing moving of robot arm device, and the direction of delivery is consistent with direction adjustment front direction,
By translation variation when to realize the position that cargo is transmitted by robot arm device, facilitate the neat cargo of stacking, meanwhile,
The both ends of robot arm device can individually be moved, so that robot arm device be made to generate rotary motion, adjust robot arm device
Delivery direction, in addition, realizing the two o'clock branch to robot arm device by the first translation rotating device and the second translation rotating device
Support improves the stability for being installed on pedestal of robot arm device, while eliminating in robot arm device revolution since mechanical arm fills
Put back into mechanical stress when turning to be formed angle with pedestal；
Second aspect, robot arm device include basic arm and telescopic arm, realize the extension of robot cargo conveying space,
Suitable for carrying out the cargo stacking of different length counter, the scope of application is wider, reduces the cost that robot uses；
The third aspect, basic arm are rotatably connected close to the position of second end with support device, make by support device
Rotary motion is done around first end in two ends, and during second end revolution, second end is moved to different height, makes cargo can be with
It is transported to different height by robot arm device, realizes the stacking of different height cargo.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of pedestal in the preferred embodiment of the present invention；
Fig. 3 is the structural schematic diagram of support device in the preferred embodiment of the present invention；
Fig. 4 is the partial structure diagram of robot arm device in the preferred embodiment of the present invention；
Fig. 5 is the partial structural diagram of the telescopic drive motor part of robot arm device in the preferred embodiment of the present invention；
Fig. 6 is the partial structurtes at another visual angle in telescopic drive motor part of robot arm device in the preferred embodiment of the present invention
Schematic diagram；
Fig. 7 is the partial structural diagram of telescopic arm head end in the preferred embodiment of the present invention；
Fig. 8 is the structural schematic diagram of robot arm device in the preferred embodiment of the present invention.
Description of symbols:
1, pedestal, the 11, first platform, the 12, second platform；
2, robot arm device, 21, basic arm, 22, telescopic arm, 231, first movement rack gear, the 232, second mobile rack,
24, telescopic drive motor, 25, drive shaft, 261, first movement gear, the 262, second carrier wheel, 27, upper support guide wheel, 28,
Lower support guide wheel；
3, support device, 31, support portal frame, 32, elevating screw, 33, elevation driving unit, 34, connecting shaft；
4, the first translation rotating device, 41, translation mechanism, 411, driven in translation unit, 412, translating rails, 42, rotation
Pedestal；
5, the second translation rotating device；
6, belt dressing, 61, reversing roller, 62, belt, 63, strainer, 631, pressure roll, 632, tensioning cylinder, 633,
It is tensioned bracket, 634, mounting bracket, 635, guide rod, 64, idler roller；
7, control device, 71, main electric cabinet, 72, control electronic box；
8, cable turntable is shunk automatically.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
With reference to FIG. 1 to FIG. 8, a kind of goods stacking machine device people, including pedestal 1,2 and of robot arm device are present embodiments provided
Support device 3, pedestal 1 include the first platform 11 and the second platform 12, and the first platform 11 is equipped with the first translation rotating device 4,
Second platform 12 is equipped with the second translation rotating device 5, and 2 one end of robot arm device rotatably connects with the first translation rotating device 4
It connects, 3 one end of support device is rotatably connected with the second translation rotating device 5, and robot arm device 2 is connect with support device 3；
Robot arm device 2 includes basic arm 21 and telescopic arm 22, and basic arm 21 is equipped with telescopic cavity, and telescopic arm 22 is sheathed on base
It stretches in the telescopic cavity of this arm 21, the first end of basic arm 21 is rotatably connected with the first translation rotating device 4, basic arm
21 are rotatably connected close to the position of second end with support device 3, and support device 3 is for making the second end of basic arm 21 around first
Do rotary motion in end.On the one hand, the present invention realizes machinery by the first translation rotating device 4 and the second translation rotating device 5
2 delivery position of arm assembly freely adjusts, before adjusting the both ends synchronizing moving of robot arm device 2, the direction and direction of delivery
Direction is consistent, to facilitate stacking neat by translation variation when realizing the position that cargo is transmitted by robot arm device 2
Cargo, meanwhile, the both ends of robot arm device 2 can individually be moved, so that robot arm device 2 be made to generate rotary motion, adjustment
The delivery direction of robot arm device 2, in addition, being realized by the first translation rotating device 4 and the second translation rotating device 5 to machinery
The two o'clock of arm assembly 2 supports, and improves the stability for being installed on pedestal 1 of robot arm device 2, while eliminating in robot arm device 2
Due to the revolution of robot arm device 2 and the mechanical stress when formation angle of pedestal 1 when revolution.
Second aspect, robot arm device 2 include basic arm 21 and telescopic arm 22, realize robot cargo conveying space
Extension, suitable for carrying out the cargo stacking of different length counter, the scope of application is wider, reduces the cost that robot uses；
The third aspect, basic arm 21 are rotatably connected close to the position of second end with support device 3, pass through support device 3
So that second end is done luffing around first end, for changing the amplitude of 21 second end of basic arm, cargo is allow to pass through robot arm device 2
It is transported to different height, realizes the stacking of different height cargo.
Certainly, in different embodiments, the quantity of telescopic arm 22 is not limited to a section or two sections, can be more piece, adapts to
The cargo stacking of different size counter.
Specifically, referring to figs. 2 and 3, the first translation rotating device 4 and the second translation rotating device 5 include translation mechanism
41 and rotating basis 421, translation mechanism 41 includes driven in translation unit 411 and translating rails 412, the sliding peace of rotating basis 421
Loaded on translating rails 412, driven in translation unit 411 passes through rotation for driving rotating basis 421 to move along translating rails 412
Pedestal 421 is moved on translating rails 412, in the translation machine of the first translation rotating device 4 and the second translation rotating device 5
When structure 41 moves synchronously, the variation of 2 conveying articles position of robot arm device is realized, it is flat in the first translation rotating device 4 and second
When moving 41 Asynchrony of translation mechanism of rotating device 5, robot arm device 2 generates rotary motion in the horizontal direction, and change is sent
The direction of goods, in addition, the first end of basic arm 21 is articulated with the rotating basis 421 of the first translation rotating device 4, support device 3
It is hinged with the rotating basis 421 of the second translation rotating device 5, make 21 luffing of basic arm, change the amplitude of basic arm 21, adjusts defeated
The height of delivery object, the translating rails 412 of the first translation rotating device 4 and the translating rails 412 of the second translation rotating device 5 are flat
Row arrangement, when moving the both ends of robot arm device 2 along translating rails 412, movement is more efficient.
With reference to Fig. 3, further, support device 3 includes support portal frame 31, elevating screw 32 and elevation driving unit
33, support portal frame 31 is installed on the second translation rotating device 5, and basic arm 21 has been rotatably connected company close to the position of second end
Spindle 34, the both ends of connecting shaft 34 are threaded with elevating screw 32 respectively, and elevating screw 32 is rotatably connected in support gantry
The two sides of frame 31, elevation driving unit 33 are installed on support portal frame 31 and elevating screw 32 are driven to rotate, on the one hand, pass through support
Portal frame 31 keeps the installation of basic arm 21 more stable, and on the other hand, basic arm 21 is rotatably connected with connecting shaft 34, in basic arm
When being turned round by elevating screw 32 around first end, the power for making basic arm 21 be applied to elevating screw 32 keeps and rises 21 second ends
The axis for dropping screw rod 32 is parallel, improves the stability of rotation driving 21 second end of the basic arm revolution of elevating screw 32.
With reference to Fig. 4~Fig. 7,22 lower surface of telescopic arm of the present embodiment is equipped with first movement rack gear 23 and the second mobile tooth
Item, first movement rack gear and the second mobile rack parallel arrangement, basic arm 21 are equipped with telescopic drive motor 24, telescopic drive motor
24 power output end is connected with drive shaft 25, and drive shaft 25 is equipped with first movement gear 261 and the second carrier wheel 262, the
One carrier wheel 261 is engaged with first movement rack gear 231, and the second carrier wheel 262 is engaged with the second mobile rack 232, structure
Simply, the quick-expansion out of basic arm 21 of telescopic arm 22 is realized, the distance of prolonged mechanical arm cargo conveying, and move due to first
Carry-over bar 231 and the second mobile rack 232 are arranged in parallel, and improve the flexible stability of telescopic arm 22.
Specifically, the tooth form of first movement rack gear 231 is left-hand teeth, the tooth form of the second mobile rack 232 is right-hand teeth, the
The tooth form of one mobile rack 231 and the tooth form of the second mobile rack 232 are arranged symmetrically, and move first movement gear 261 and second
Moving gear 262 acts on first movement rack gear 231 and the force direction of the second mobile rack 232 is directed to inside, to flexible
Accurately transmission and automatic centering are played the role of in 22 transmission.
Further, it is equipped with upper support guide wheel 27 close to the position of second end in the telescopic cavity of basic arm 21, upper support is led
Wheel 27 is abutted with 22 bottom surface of telescopic arm, and telescopic arm 22 is equipped with close to the position of head end and abuts down with 21 telescopic cavity bottom surface of basic arm
Support deflector roll 28 and the upper support guide wheel 27 abutted with 21 telescopic cavity top surface of basic arm, on the one hand, supported in the setting of basic arm 21
Supporting point of the guide wheel 27 as telescopic arm 22, while facilitating the stretching motion in the telescopic cavity of basic arm 21 of telescopic arm 22, it is another
Aspect makes telescopic arm 22 during stretching motion, and since the supporting point of telescopic arm 22 changes, the center of gravity of telescopic arm 22 can also become
Change, when the center of gravity of telescopic arm 22 is moved to tail end from head end, the head end of telescopic arm 22 and the contact of 21 telescopic cavity of basic arm from
Bottom surface contact is transferred to top surface contact, therefore, by supporting guide wheel 27 and lower branch in the setting of head end position in telescopic arm 22
Guide wheel 28 is supportted, 22 gravity center shift of telescopic arm is avoided to influence the efficiency that telescopic arm 22 stretches in 21 telescopic cavity of basic arm, raising is stretched
The flexible stability of contracting arm 22.
The upper support guide wheel 27 of at least two groups of the quantity of the upper support guide wheel 27 of the present embodiment, at least two groups is respectively arranged
In 25 two sides of drive shaft, the stress balance of 25 two sides of drive shaft is kept, to make the engagement of mobile rack 23 and carrier wheel 26
It is more stable, the flexible stability of telescopic arm 22 is improved, while preventing the stress variation due to 22 both ends of telescopic arm from leading to mobile tooth
Item 23 and carrier wheel 26 engage it is not in place, to improve the service life of mobile rack 23 and carrier wheel 26.
With reference to Fig. 8, the present embodiment further includes belt dressing 6, and belt dressing 6 includes belt driving unit, reversing roller 61, skin
The both ends of band 62 and strainer 63, basic arm 21 and telescopic arm 22 are equipped with reversing roller 61, and belt 62 is set around reversing roller 61,
One end that basic arm 21 is connect with the first translation rotating device 4 is equipped with idler roller 64, and strainer 63 is set to basic arm 21
It is used for tightening belt 62 between reversing roller 61 and idler roller 64, improves the stability of cargo conveying, improves cargo transfer efficiency；Tool
Body, belt driving unit can be electromotive roller or belt driving motor.
Specifically, the upper surface of basic arm 21 and telescopic arm 22 is equipped with high molecular abrasion-proof layer, for reducing basic arm
21 and 22 surface of telescopic arm frictional force, while for protecting basic arm 21 and 22 surface of telescopic arm not frayed, meanwhile, reduce
The frictional force of belt 62 and 22 surface of basic arm 21 and telescopic arm, increase belt 62, basic arm 21 and telescopic arm 22 uses the longevity
Life.
Specifically, strainer 63 includes that pressure roll 631, tensioning cylinder 632 and tensioning bracket 633, tensioning cylinder 632 are logical
It crosses tensioning bracket 633 and is installed on basic arm 21, pressure roll 631 is defeated by the power that mounting bracket 634 is connected to tensioning cylinder 632
Outlet, reversing roller 61, idler roller 64 and pressure roll 631 are arranged in parallel, and tensioning bracket 633 is slidably equipped with guide rod 635, guide rod
635 one end are connect with mounting bracket 634, and structure is simple, and pressure roll 631 is compressed belt 62 by tensioning cylinder 632, makes belt
62 tensionings improve the stability of tightening belt 62 in addition, keeping the moving direction of pressure roll 631 more acurrate by guide rod 635.
It further include oneself for the cable that control device 7 connects control device with for folding and unfolding in the present embodiment with reference to Fig. 1
Dynamic to shrink cable turntable 8, pedestal 1, robot arm device 2 and support device 3 are electrically connected with control device 1, convenient to control base
Seat 1, robot arm device 2 and support device 3 are programmed control, improve the convenience that robot uses, and improve cargo stacking
Efficiency, in addition, carrying out folding and unfolding by the automatic contraction cable turntable 8 that is installed on 2 side of robot arm device connects control device 7
Connecting line between robot arm device 2 improves the safety that equipment uses, prevents connecting line mess therein, avoid connecting line
Caused by security risk.
In the present embodiment, control device 1 includes main electric cabinet 71 and control electronic box 72, and main electric cabinet 71 is controlled for powering
Electronic box 72 is installed on 2 side of robot arm device point for connecting with telescopic drive motor 24.
To sum up, the present invention effectively increases the stability of cargo stacking, reduces the cost of cargo stacking, and robot
It is convenient to carry out stacking cargo from different height and direction using more flexible.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, various information are described in the present invention using term " first ", " second " etc., but these information should not necessarily be limited by
These terms, these terms are only used to for same type of information being distinguished from each other out.For example, in the feelings for not departing from the scope of the invention
Under condition, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as " first " letter
Breath.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of goods stacking machine device people, which is characterized in that including pedestal, robot arm device and support device, the pedestal packet
The first platform and the second platform are included, first stage+module has the first translation rotating device, and second stage+module has
Two translation rotating devices, described robot arm device one end are rotatably connected with the first translation rotating device, the support device one
End is rotatably connected with the second translation rotating device, and the robot arm device is connect with support device；
The robot arm device includes basic arm and telescopic arm, and the basic arm is equipped with telescopic cavity, and the telescopic arm is sheathed on base
It stretches in the telescopic cavity of this arm, the first end of the basic arm is rotatably connected with the first translation rotating device, the base
The position of the nearly second end of this arm rest is rotatably connected with support device, and the support device is for making the second end of basic arm around the
Do rotary motion in one end.
2. goods stacking machine device people according to claim 1, which is characterized in that the first translation rotating device and second
Translation rotating device includes translation mechanism and rotating basis, and the translation mechanism includes driven in translation unit and translating rails,
The rotating basis is slidably mounted on the translating rails, and the driven in translation unit is for driving rotating basis along translating rails
Mobile, the first end of the basic arm is articulated with the rotating basis of the first translation rotating device, the support device and second flat
The rotating basis for moving rotating device is hinged, and the translating rails of the first translation rotating device and second translate the flat of rotating device
Move guide rail parallel arrangement.
3. goods stacking machine device people according to claim 1, which is characterized in that the support device includes support gantry
Frame, elevating screw and elevation driving unit, the support portal frame are installed on the second translation rotating device, and the basic arm is close
The position of second end has been rotatably connected connecting shaft, and the both ends of the connecting shaft are threaded with the elevating screw, institute respectively
It states elevating screw to be rotatably connected in the two sides of the support portal frame, the elevation driving unit is installed on support portal frame and drives
Move the elevating screw rotation.
4. goods stacking machine device people according to claim 1, which is characterized in that the telescopic arm lower surface is equipped with first and moves
Carry-over bar and the second mobile rack, the first movement rack gear and the second mobile rack parallel arrangement, the basic arm, which is equipped with, to be stretched
Contracting driving motor, the power output end of the telescopic drive motor are connected with drive shaft, and the drive shaft is equipped with first movement tooth
Wheel and the second carrier wheel, the first movement gear are engaged with first movement rack gear, and second carrier wheel and second moves
Carry-over bar engagement.
5. goods stacking machine device people according to claim 4, which is characterized in that the tooth form of the first movement rack gear is a left side
Tooth is revolved, the tooth form of second mobile rack is right-hand teeth, the tooth form of the first movement rack gear and the tooth of the second mobile rack
Shape is arranged symmetrically.
6. goods stacking machine device people according to claim 4, which is characterized in that close to the in the telescopic cavity of the basic arm
The position at two ends is equipped with upper support guide wheel, and the upper support guide wheel is abutted with telescopic arm bottom surface, and the telescopic arm is close to head end
Position is equipped with the lower support deflector roll abutted with basic arm telescopic cavity bottom surface and the upper support abutted with basic arm telescopic cavity top surface is led
Wheel.
7. goods stacking machine device people according to claim 6, which is characterized in that the quantity of the upper support guide wheel is at least
Two groups, the upper support guide wheel of at least two groups is respectively arranged in drive shaft two sides.
8. goods stacking machine device people according to claim 1, which is characterized in that it further include belt dressing, the belt dress
It sets including belt driving unit, reversing roller, belt and strainer, the both ends of the basic arm and telescopic arm are equipped with commutation
Roller, the belt are set around the reversing roller, and one end that the basic arm is connect with the first translation rotating device is equipped with idler roller,
The strainer is set between the reversing roller of basic arm and idler roller for tightening belt.
9. goods stacking machine device people according to claim 8, which is characterized in that the strainer includes pressure roll, opens
Tight cylinder and tensioning bracket, the tensioning cylinder are installed on basic arm by being tensioned bracket, and the pressure roll passes through mounting bracket
It is connected to the power output end of tensioning cylinder, the reversing roller, idler roller and pressure roll parallel arrangement, the tensioning bracket cunning is set
There is guide rod, described guide rod one end is connect with mounting bracket.
10. goods stacking machine device people according to claim 1, which is characterized in that further include control device and for folding and unfolding
The automatic contraction cable turntable of the cable of control device is connected, the pedestal, robot arm device and support device are filled with control
Electrical connection is set, the automatic contraction cable turntable is installed on robot arm device side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837145.5A CN109230578B (en) | 2018-07-26 | 2018-07-26 | Goods stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837145.5A CN109230578B (en) | 2018-07-26 | 2018-07-26 | Goods stacking robot |
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| CN109230578A true CN109230578A (en) | 2019-01-18 |
| CN109230578B CN109230578B (en) | 2020-06-05 |
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| CN201810837145.5A Active CN109230578B (en) | 2018-07-26 | 2018-07-26 | Goods stacking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422644A (en) * | 2019-07-16 | 2019-11-08 | 广州圣益龙自动控制技术有限公司 | A kind of entrucking Palletizer |
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